Ivar-André F. Ihle

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— We consider a formation control system where individual systems are controlled by a path-following design and the path variables are to be synchronized. We first show a passivity property for the path following system and, next, combine this with a passivity-based synchronization algorithm developed in [1]. The passivity approach expands the classes of(More)
— We propose a method for constructing control laws for formation control of marine craft using classical tools from analytical mechanics. The control law is based on applying inter-vessel constraint functions which again impose forces on the individual vessels that maintain the given constraints on the total system. In this way, a formation can be(More)
— This article presents a method for formation control of marine surface craft inspired by Lagrangian mechanics. The desired formation configuration and response of the marine surface craft are given as a set of constraint functions. The functions are treated according to constraints in analytical mechanics and constraint forces that keep the formation(More)
This paper presents a formation modelling scheme based on a set of inter-body constraint functions and Lagrangian multipliers. Formation control for a fleet of marine craft is achieved by stabilizing the auxiliary constraints such that the desired formation configuration appears. In the proposed framework we develop robust control laws for marine surface(More)
— This article presents a method for formation controlof marine surface vessels inspired by Lagrangian mechanics. The desired formation configuration is given as a set of constraint functions. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Since the constraint functions are(More)
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